Paper:
High Speed Neural Control for Robot Navigation
BOTELHO, S.S.C, SIMÕES, E.V., UEBEL, L.F., BARONE, D.A.C.
1996 IEEE International Conference on Systems, Man and Cybernetics, Beijing, China, Oct., 1996.
download compressed postscript or download PDF.
Abstract:
This work addresses real time control of the Khepera mobile robot navigation
in a maze with reflexive walls. Boolean Neural Networks such as RAM and GSN models are
applied to drive the vehicle, following a light source, while avoiding obstacles. Both neural
networks are implemented with simple logic and arithmetic functions (NOT, AND, OR, Addition,
and Comparison), aiming to improve system speed. The results obtained are compared with two
other control strategies: Multi-layer Perceptron (MLP) and Fuzzy Logic.
Eduardo do Valle Simões,
simoes@icmc.usp.br
Back to Eduardo do Valle Simoes Web Page